EP0479739B1 - Roboterhandgelenk - Google Patents

Roboterhandgelenk Download PDF

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Publication number
EP0479739B1
EP0479739B1 EP91830407A EP91830407A EP0479739B1 EP 0479739 B1 EP0479739 B1 EP 0479739B1 EP 91830407 A EP91830407 A EP 91830407A EP 91830407 A EP91830407 A EP 91830407A EP 0479739 B1 EP0479739 B1 EP 0479739B1
Authority
EP
European Patent Office
Prior art keywords
axis
wrist
drive unit
robot
wrist portion
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP91830407A
Other languages
English (en)
French (fr)
Other versions
EP0479739A1 (de
Inventor
Mauro Zona
Marco Bettinardi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Comau SpA
Original Assignee
Comau SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Comau SpA filed Critical Comau SpA
Publication of EP0479739A1 publication Critical patent/EP0479739A1/de
Application granted granted Critical
Publication of EP0479739B1 publication Critical patent/EP0479739B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element

Claims (4)

  1. Roboterhandgelenk mit
    - einer Tragkonstruktion (20, 23),
    - einer ersten Antriebseinheit (27), die mit der Tragkonstruktion (20, 23) fest verbunden ist,
    - einem Glied (30) für eine Drehung um eine erste Achse (17), das von der ersten Antriebseinheit (27) angetrieben und von der Tragkonstruktion (20, 23) getragen wird, wobei das angetriebene Glied (30) wiederum einen weiteren Handgelenkabschnitt (38) für eine Drehung um eine zur ersten Achse (17) senkrechte zweite Achse (18) sowie eine zweite Antriebseinheit (39) zum Drehen des Handgelenkabschnitts (38) um die zweite Achse (18) trägt und der Handgelenkabschnitt (38) wiederum eine dritte Antriebseinheit (46) zum Antrieb eines Arbeitselements (45) des Roboters trägt, das auf dem Handgelenkabschnitt (38) um eine dritte Achse (19) drehbar ist, die sich von der zweiten Achse (18) radial erstreckt,
       dadurch gekennzeichnet,
       daß die dritte Antriebseinheit (46) innerhalb des angetriebenen Glieds (30) angeordnet ist.
  2. Roboterhandgelenk nach Anspruch 1, dadurch gekennzeichnet, daß der Handgelenkabschnitt (38) einen klammerähnlichen Aufbau mit einem inneren Ende aufweist, das von der zweiten Antriebseinheit (39) mittels zweier Kegelräder (42, 43) um die zweite Achse (18) gedreht wird.
  3. Roboterhandgelenk nach Anspruch 2, dadurch gekennzeichnet, daß die dritte Antriebseinheit (46) mit dem Aufbau des Handgelenkabschnitts (38) fest verbunden ist und mittels eines Riementriebs (49) und zwei Kegelrädern (50, 51), die innerhalb eines den Handgelenkabschnitt (38) bildenden hohlen Körpers angeordnet sind, mit dem Arbeitselement (45) verbunden ist, wobei ihre Achse mit der zweiten Achse (18) zusammenfällt.
  4. Gelenkroboter, dadurch gekennzeichnet, daß er ein Handgelenk nach einem oder mehreren der vorhergehenden Ansprüche aufweist.
EP91830407A 1990-10-04 1991-10-02 Roboterhandgelenk Expired - Lifetime EP0479739B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT67764A IT1241622B (it) 1990-10-04 1990-10-04 Polso di robot
IT6776490 1990-10-04

Publications (2)

Publication Number Publication Date
EP0479739A1 EP0479739A1 (de) 1992-04-08
EP0479739B1 true EP0479739B1 (de) 1995-08-30

Family

ID=11305120

Family Applications (1)

Application Number Title Priority Date Filing Date
EP91830407A Expired - Lifetime EP0479739B1 (de) 1990-10-04 1991-10-02 Roboterhandgelenk

Country Status (6)

Country Link
US (1) US5178032A (de)
EP (1) EP0479739B1 (de)
JP (1) JPH04256593A (de)
DE (1) DE69112557T2 (de)
ES (1) ES2076508T3 (de)
IT (1) IT1241622B (de)

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US5894754A (en) * 1996-04-26 1999-04-20 Amada Company, Limited System for producing bent sheet-metal articles and components of the system
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
SE516023C2 (sv) * 1999-06-24 2001-11-12 Abb Ab Industrirobot innefattande en växellådskonfiguration samt förfarande i en industrirobot
SE0001163L (sv) * 2000-03-31 2001-10-01 Anani Vladimirov Ananiev Omkonfigurerbar lättviktsrobotarm för mobila robotar
US6902560B1 (en) * 2000-07-27 2005-06-07 Intuitive Surgical, Inc. Roll-pitch-roll surgical tool
US6746443B1 (en) * 2000-07-27 2004-06-08 Intuitive Surgical Inc. Roll-pitch-roll surgical tool
SE0202445L (sv) * 2002-08-19 2004-02-20 Abb Ab Anordning vid en industrirobot
US7960935B2 (en) * 2003-07-08 2011-06-14 The Board Of Regents Of The University Of Nebraska Robotic devices with agent delivery components and related methods
US20080058989A1 (en) * 2006-04-13 2008-03-06 Board Of Regents Of The University Of Nebraska Surgical camera robot
US7042184B2 (en) * 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot for surgical applications
US9579088B2 (en) 2007-02-20 2017-02-28 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical visualization and device manipulation
US8679096B2 (en) * 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
JP5466004B2 (ja) * 2006-06-22 2014-04-09 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ 磁気的連結可能ロボット装置および関連する方法
EP2170564A4 (de) 2007-07-12 2015-10-07 Univ Nebraska Betätigungsverfahren und -systeme in robotergeräten
EP2178431A4 (de) 2007-08-15 2017-01-18 Board of Regents of the University of Nebraska Medizinische inflations-, aufbringungs- und verabreichungsvorrichtungen sowie entsprechende verfahren
CA2695619C (en) * 2007-08-15 2015-11-24 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
FR2931092B1 (fr) * 2008-05-19 2010-09-10 Commissariat Energie Atomique Bras manipulateur ayant une extremite amovible incorporant des moteurs
KR100997140B1 (ko) * 2008-07-16 2010-11-30 삼성전자주식회사 인간형 로봇
FR2952573B1 (fr) * 2009-10-02 2011-12-09 Commissariat Energie Atomique Structure de robot ou d'interface haptique a bras en parallele
US8894633B2 (en) * 2009-12-17 2014-11-25 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
US9033998B1 (en) 2010-05-13 2015-05-19 Titan Medical Inc. Independent roll wrist mechanism
EP2600758A1 (de) 2010-08-06 2013-06-12 Board of Regents of the University of Nebraska Verfahren und systeme zur handhabung oder abgabe von materialien für natürliche körperöffnungschirurgie
US9205555B2 (en) 2011-03-22 2015-12-08 Harris Corporation Manipulator joint-limit handling algorithm
EP4275634A3 (de) 2011-06-10 2024-01-10 Board of Regents of the University of Nebraska Verfahren, systeme und vorrichtungen in zusammenhang mit chirurgischen endeffektoren
CA3082073C (en) 2011-07-11 2023-07-25 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US8996244B2 (en) 2011-10-06 2015-03-31 Harris Corporation Improvised explosive device defeat system
JP6377530B2 (ja) 2012-01-10 2018-08-22 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ 外科的挿入装置
EP3845190B1 (de) 2012-05-01 2023-07-12 Board of Regents of the University of Nebraska Robotische einzelstandortvorrichtung sowie entsprechende systeme
EP3680071B1 (de) 2012-06-22 2021-09-01 Board of Regents of the University of Nebraska Robotische chirurgische vorrichtungen mit lokaler steuerung
WO2014025399A1 (en) 2012-08-08 2014-02-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
WO2014160086A2 (en) 2013-03-14 2014-10-02 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
CA2906672C (en) 2013-03-14 2022-03-15 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
WO2014144220A1 (en) 2013-03-15 2014-09-18 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methdos
JP6479790B2 (ja) 2013-07-17 2019-03-06 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ ロボット外科的デバイス、システムおよび関連する方法
US9128507B2 (en) * 2013-12-30 2015-09-08 Harris Corporation Compact haptic interface
EP3868322A1 (de) 2014-09-12 2021-08-25 Board of Regents of the University of Nebraska Schnelllösbare endeffektoren sowie entsprechende systeme
JP5898743B1 (ja) * 2014-09-25 2016-04-06 上銀科技股▲分▼有限公司 関節式ロボットアームの手首構造
JP6608928B2 (ja) 2014-11-11 2019-11-20 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ 小型の関節デザインを備えるロボットデバイスおよび関連するシステムおよび方法
EP3275393A4 (de) * 2015-03-25 2018-11-21 Sony Olympus Medical Solutions Inc. Ärztliche beobachtungsvorrichtung, chirurgische beobachtungsvorrichtung und medizinisches beobachtungssystem
WO2017024081A1 (en) 2015-08-03 2017-02-09 Board Of Regents Of The University Of Nebraska Robotic surgical devices systems and related methods
CA3024623A1 (en) 2016-05-18 2017-11-23 Virtual Incision Corporation Robotic surgical devices, systems and related methods
US10722319B2 (en) 2016-12-14 2020-07-28 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
US11007636B2 (en) * 2017-03-31 2021-05-18 Kinova Inc. Articulated mechanism with protective sleeve at joint
CA3087672A1 (en) 2018-01-05 2019-07-11 Board Of Regents Of The University Of Nebraska Single-arm robotic device with compact joint design and related systems and methods
JP7167522B2 (ja) * 2018-07-27 2022-11-09 セイコーエプソン株式会社 ロボットアーム
EP3908171A4 (de) 2019-01-07 2022-09-14 Virtual Incision Corporation Robotisiertes assistiertes chirurgisches system und zugehörige vorrichtungen und verfahren

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JPS5973298A (ja) * 1982-10-20 1984-04-25 ファナック株式会社 工業用ロボツトの手首機構
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DE8310067U1 (de) * 1983-04-06 1985-06-05 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Robotergelenk
JPS60127989A (ja) * 1983-12-14 1985-07-08 ファナック株式会社 産業用ロボットの手首駆動機構
DE3423432C2 (de) * 1984-06-26 1986-06-12 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Vorrichtung zur Positionierung einer Probe
DE3545068A1 (de) * 1985-12-19 1987-06-25 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren
DE3717597A1 (de) * 1986-07-09 1988-01-21 Eisenmann Foerdertech Gmbh Robotergelenkkopf in modulbauweise

Also Published As

Publication number Publication date
JPH04256593A (ja) 1992-09-11
US5178032A (en) 1993-01-12
DE69112557D1 (de) 1995-10-05
DE69112557T2 (de) 1996-03-14
EP0479739A1 (de) 1992-04-08
IT9067764A0 (it) 1990-10-04
IT1241622B (it) 1994-01-25
IT9067764A1 (it) 1992-04-04
ES2076508T3 (es) 1995-11-01

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